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EP2639018A4 - Manipulateur maître-esclave et manipulateur maître-esclave médical - Google Patents

Manipulateur maître-esclave et manipulateur maître-esclave médical

Info

Publication number
EP2639018A4
EP2639018A4 EP12737160.7A EP12737160A EP2639018A4 EP 2639018 A4 EP2639018 A4 EP 2639018A4 EP 12737160 A EP12737160 A EP 12737160A EP 2639018 A4 EP2639018 A4 EP 2639018A4
Authority
EP
European Patent Office
Prior art keywords
master
slave manipulator
medical
manipulator
slave
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12737160.7A
Other languages
German (de)
English (en)
Other versions
EP2639018A1 (fr
EP2639018B1 (fr
Inventor
Kosuke Kishi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Publication of EP2639018A1 publication Critical patent/EP2639018A1/fr
Publication of EP2639018A4 publication Critical patent/EP2639018A4/fr
Application granted granted Critical
Publication of EP2639018B1 publication Critical patent/EP2639018B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40182—Master has different configuration than slave manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40367—Redundant manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
EP12737160.7A 2011-01-20 2012-01-17 Manipulateur maître-esclave et manipulateur maître-esclave médical Not-in-force EP2639018B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011010001A JP5669590B2 (ja) 2011-01-20 2011-01-20 マスタスレーブマニピュレータ及び医療用マスタスレーブマニピュレータ
PCT/JP2012/050828 WO2012099111A1 (fr) 2011-01-20 2012-01-17 Manipulateur maître-esclave et manipulateur maître-esclave médical

Publications (3)

Publication Number Publication Date
EP2639018A1 EP2639018A1 (fr) 2013-09-18
EP2639018A4 true EP2639018A4 (fr) 2014-03-26
EP2639018B1 EP2639018B1 (fr) 2015-07-29

Family

ID=46515734

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12737160.7A Not-in-force EP2639018B1 (fr) 2011-01-20 2012-01-17 Manipulateur maître-esclave et manipulateur maître-esclave médical

Country Status (5)

Country Link
US (1) US9283679B2 (fr)
EP (1) EP2639018B1 (fr)
JP (1) JP5669590B2 (fr)
CN (1) CN103328160B (fr)
WO (1) WO2012099111A1 (fr)

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US10188471B2 (en) * 1999-09-17 2019-01-29 Intuitive Surgical Operations, Inc. Tele-operative surgical systems and methods of control at joint limits using inverse kinematics
CN104736094B (zh) * 2012-08-15 2017-07-28 直观外科手术操作公司 操纵外科系统的活动的假想自由度
KR102189666B1 (ko) * 2012-08-15 2020-12-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기계 몸체의 운동을 조종하기 위한 가상 자유도
JP6255403B2 (ja) * 2012-08-15 2017-12-27 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 関節推定及び制御におけるファントム自由度
EP2997879B1 (fr) * 2013-03-29 2019-03-13 Olympus Corporation Système maître-esclave
JP6141410B2 (ja) * 2013-03-29 2017-06-07 オリンパス株式会社 マニピュレータ、マニピュレータシステム及びマニピュレータの作動方法
JP6109001B2 (ja) 2013-07-26 2017-04-05 オリンパス株式会社 医療用システムおよびその作動方法
JP6164964B2 (ja) * 2013-07-26 2017-07-19 オリンパス株式会社 医療用システムおよびその制御方法
JP6218631B2 (ja) * 2014-02-18 2017-10-25 オリンパス株式会社 マニピュレータ装置の作動方法
CN103817682B (zh) * 2014-03-12 2016-05-04 山东大学 一种关节式力反馈遥操作主手
JP6872904B2 (ja) 2014-03-17 2021-05-19 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 逆運動学を用いた関節制限における制御の遠隔操作手術システム及び方法
CN107921625B (zh) * 2015-08-25 2021-03-23 川崎重工业株式会社 远程操作机器人系统
CN107427328B (zh) * 2016-01-22 2020-03-20 奥林巴斯株式会社 医疗用机械手系统
WO2017145342A1 (fr) 2016-02-25 2017-08-31 オリンパス株式会社 Système de manipulateur et son procédé de fonctionnement
JP6205528B1 (ja) 2016-02-25 2017-09-27 オリンパス株式会社 マニピュレータシステムとその作動方法
WO2017221323A1 (fr) * 2016-06-21 2017-12-28 オリンパス株式会社 Système médical
JP6962229B2 (ja) * 2018-02-15 2021-11-05 オムロン株式会社 中央制御装置、制御方法およびプログラム
GB2592378B (en) * 2020-02-25 2024-04-03 Cmr Surgical Ltd Controlling movement of a surgical robot arm
CN112674875B (zh) * 2020-12-24 2022-06-07 上海交通大学医学院附属第九人民医院 机械臂力反馈系统、方法、控制方法及控制终端

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WO2000060421A2 (fr) * 1999-04-07 2000-10-12 Intuitive Surgical, Inc. Alignement de l'unite maitre et de l'unite asservie dans un appareil chirurgical a invasion minimale
US20030060927A1 (en) * 2001-09-25 2003-03-27 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
US20100198402A1 (en) * 2007-04-16 2010-08-05 Alexander Greer Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

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JP2685602B2 (ja) * 1988-10-19 1997-12-03 株式会社日立製作所 マスタースレーブマニピュレータシステム
JPH07246578A (ja) * 1994-03-11 1995-09-26 Yaskawa Electric Corp マスターハンド装置
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JP4203221B2 (ja) 2000-12-06 2008-12-24 本田技研工業株式会社 ワークの把持装置
US6817850B2 (en) * 2001-04-09 2004-11-16 Kobird Co., Ltd. Method of and apparatus for forming food
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
JP3712693B2 (ja) * 2002-05-21 2005-11-02 株式会社東芝 医療用マニピュレータ
US7386365B2 (en) * 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
JP3783011B2 (ja) 2003-10-02 2006-06-07 株式会社日立製作所 操作入力装置および遠隔操作システムおよび遠隔操作方法
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JPH05228854A (ja) * 1992-02-18 1993-09-07 Fujitsu Ltd ７自由度アーム制御方式
WO2000060421A2 (fr) * 1999-04-07 2000-10-12 Intuitive Surgical, Inc. Alignement de l'unite maitre et de l'unite asservie dans un appareil chirurgical a invasion minimale
US20030060927A1 (en) * 2001-09-25 2003-03-27 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
US20100198402A1 (en) * 2007-04-16 2010-08-05 Alexander Greer Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Non-Patent Citations (2)

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Title
JONGHYUN CHOI ET AL: "Design and characteristic analysis of 7-DOF hybrid master arm with human arm kinematics", PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION - 1998, vol. 64, 31 December 1998 (1998-12-31), pages 195 - 205, XP055101701, ISBN: 0791815862 *
See also references of WO2012099111A1 *

Also Published As

Publication number Publication date
JP2012148379A (ja) 2012-08-09
EP2639018A1 (fr) 2013-09-18
US9283679B2 (en) 2016-03-15
US20120191247A1 (en) 2012-07-26
JP5669590B2 (ja) 2015-02-12
WO2012099111A1 (fr) 2012-07-26
CN103328160A (zh) 2013-09-25
EP2639018B1 (fr) 2015-07-29
CN103328160B (zh) 2016-04-13

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